Dua of Ibrahim(Abraham) A.S for forgiveness for his parents:
"Rabbana ighfir lee waliwalidayya walilmumineena yawma yaqoomu alhisabu"
"Our Lord! Forgive me and my parents, and (all) the believers on the Day when the reckoning will be established."
Quran, 14:41

Dua of Yusuf (Joseph) A.S :
"fatira alssamawati waalardi anta waliyyee fee alddunya waalakhirati tawaffanee musliman waalhiqnee bialssaliheena"
“The (only) Creator of the heavens and the earth! You are my Wali (Protector, Helper, Supporter, Guardian, etc.) in this world and in the Hereafter, cause me to die as a Muslim (the one submitting to Your Will), and join me with the righteous."
Quran, 12:101